Universal Robots UR10/CB3, Руководство пользователя

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Safety I/O
This section describes the dedicated safety inputs (Yellow terminal with red text) and the
configurable I/O (Yellow terminals with black text) when configured as safety I/O. The common
specifications in section
Common specifications for all digital I/O on page 31 must be observed.
Safety devices and equipment must be installed according to the safety instructions and the risk
assessment (see chapter
1.5. Safety on page 5 ).
All safety I/O are pairwise (redundant) and must be kept as two separate branches. A single fault
shall not cause loss of the safety function.
The two permanent safety inputs are the
Robot Emergency Stop
and the
Safeguard
Stop
. The Robot Emergency Stop input is for emergency stop equipment only. The Safeguard
Stop input is for all kinds of safety-related protective equipment. The functional difference is
shown below.
Emergency Stop Safeguard Stop
Robot stops moving Yes Yes
Program execution Pauses Pauses
Robot power Off On
Reset Manual Automatic or manual
Frequency of use Infrequent
Every cycle to
infrequent
Requires re-initialization
Brake release
only
No
Stop Category (IEC 60204-1) 1 2
Performance level of monitoring function
(ISO 13849-1)
PLd PLd
It is possible to use the configurable I/O to set up additional safety I/O functionality, e.g.
emergency stop output. Configuring a set of configurable I/O for safety functions are done
through the GUI, see part
Part II PolyScope Manual on page 85 .
Some examples of how to use safety I/O are shown in the following subsections.
User Manual 33 UR10
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